JP2020199931A - Cooperative travel system of work vehicle and work vehicle - Google Patents

Abstract

To properly perform illumination when performing cooperative travel of a first work vehicle and a second work vehicle.SOLUTION: A cooperative travel system of a work vehicle performs cooperative travel of a first work vehicle having a first illumination lamp and a first control device for controlling the first illumination lamp and a second work vehicle having a second illumination lamp and a second control device for controlling the second illumination lamp. The cooperative travel system includes: a first positioning device which detects a first advancing direction of the first work vehicle; and a second positioning device which detects a second advancing direction of the second work vehicle. The second control device performs control of the second illumination lamp on the basis of the first advancing direction and the second advancing direction.SELECTED DRAWING: Figure 2

Description

The present invention relates to a work vehicle cooperative traveling system and a work vehicle.

Conventionally, Patent Document 1 is known as a work vehicle cooperation system. The work vehicle cooperation system of Patent Document 1 is a work vehicle cooperation system that performs ground work by a parent work vehicle and an unmanned maneuvering child work vehicle that follows the parent work vehicle, and is a parent that detects the position of the parent work vehicle. A position detection module, a child position detection module that detects the position of the child work vehicle, a parent travel locus calculation unit that calculates the travel locus of the parent work vehicle from the position of the parent work vehicle, and a turning start point of the child work vehicle. It is equipped with a turn-back running target calculation unit that calculates the turn-back running completion point.

Japanese Unexamined Patent Publication No. 2014-178759

In the work vehicle cooperation system of Patent Document 1, the child work vehicle can be driven following the parent work vehicle. Here, the child work vehicle may be illuminated by the lighting provided on the parent work vehicle, or the parent work vehicle may be illuminated by the illumination light provided on the child work vehicle, and it is necessary to consider the lighting exerted on each other. In particular, since the parent work vehicle is operated by a manned person, it is desirable to control the lighting of the child work vehicle when the lighting of the child work vehicle is suitable for the parent work vehicle.

Therefore, in view of the above problems, it is an object of the present invention to provide a work vehicle cooperative traveling system and a work vehicle capable of performing appropriate lighting when at least two work vehicles cooperate to travel. To do.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The cooperative traveling system of the work vehicle includes a first work vehicle having a first light and a first control device for controlling the first light, and a second control device for controlling the second light and the second light. It is a cooperative traveling system of a work vehicle that travels in cooperation with a second work vehicle having the above, the first positioning device for detecting the first traveling direction of the first work vehicle, and the second work vehicle. A second positioning device for detecting two traveling directions is provided, and the second control device controls the second illumination lamp based on the first traveling direction and the second traveling direction.

The second control device dims the second illuminating lamp when the first traveling direction and the second traveling direction face each other.
The second lighting includes a headlight provided in the front portion of the second working vehicle, and the second control device is said to be the same when the first traveling direction and the second traveling direction are the same. The headlights are not dimmed, and when the first traveling direction and the second traveling direction face each other, the headlights are dimmed.

The second lighting includes a work light provided at the rear portion, and the second control device has the first work vehicle and the second work vehicle facing the first traveling direction and the second traveling direction. When they pass each other, the work light is turned on.
The work vehicle includes a display device for displaying the vehicle body positions of the first work vehicle and the second work vehicle, and the display device can set the dimming and / or blinking timing of the second lighting. ..

The display device has a distance input unit for inputting a distance between the first work vehicle and the second work vehicle as the timing.
The display device has a time input unit for inputting the time until the first work vehicle and the second work vehicle pass each other as the timing.
The first work vehicle is a manned work vehicle, and the second work vehicle is an unmanned work vehicle.

According to the present invention, proper lighting can be performed when at least two work vehicles are traveling in cooperation with each other.

It is a figure which shows the cooperative running system of a work vehicle. It is a figure which shows the block diagram of a tractor. It is a top view of a tractor. It is explanatory drawing of a light source. It is a figure which shows an example which a manned work vehicle and an unmanned work vehicle run in cooperation with each other. It is a figure which shows an example of the case where a manned traveling direction X1 and an unmanned traveling direction X2 are oriented in the same direction. It is a figure which shows an example of the case where a manned traveling direction X1 and an unmanned traveling direction X2 face each other. It is a figure which shows an example of the control regarding the 2nd lighting of a tractor in the case of performing a cooperative work. It is a figure which shows an example of the control about the 1st illuminating lamp and the 2nd illuminating lamp of a tractor in the case of performing cooperative work. It is a figure which shows an example of the setting screen M15 of a display device. It is an overall view of a tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a cooperative traveling system of a work vehicle. The cooperative traveling system of the work vehicle is a cooperative traveling system in which the first work vehicle 1A and the second work vehicle 1B are coordinated to travel. In this embodiment, the first work vehicle 1A is a manned work vehicle driven by the driver, and the second work vehicle 1B is an unmanned work vehicle driven unmanned. In the first work vehicle 1A and the second work vehicle 1B, either one may be manned or unmanned, both may be manned, or both may be unmanned.

In the case of the present embodiment, the manned work vehicle 1A and the unmanned work vehicle 1B are tractors. However, the work vehicle 1 is not limited to the tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or a transplanter.
Regarding the common configuration of the manned work vehicle 1A and the unmanned work vehicle 1B, the manned work vehicle 1A and the unmanned work vehicle 1B will be described as being tractors.

FIG. 10 shows a side view of the tractor 1. Hereinafter, the front side of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 will be described as the front side, the rear side of the driver as the rear side, the left side of the driver as the left side, and the right side of the driver as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the vehicle body width direction.
As shown in FIG. 10, the tractors 1A and 1B include a vehicle body (traveling vehicle body) 3 having a traveling device 7, a prime mover 4, and a transmission device 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. A cabin 9 is provided in the vehicle body 3, and a driver's seat 10 is provided in the cabin 9.

Further, a connecting portion (elevating device) 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. A working device 2 is attached to and detached from the connecting portion 8. By connecting the work device 2 to the connecting portion 8, the work device 2 can be towed by the vehicle body 3. The working device 2 includes a tilling device for tilling, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass and the like, a spreading device for spreading grass and the like. A grass collecting device for collecting grass and the like, a molding device for molding grass and the like, and the like. Note that FIG. 10 shows an example in which a tilling device is attached as the working device 2.

As shown in FIG. 2, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission 5b, an auxiliary transmission 5c, a shuttle 5d, and a PTO power transmission unit 5e. The propulsion shaft 5a is rotatably supported by the housing case of the transmission 5, and the power from the crankshaft of the prime mover 4 is transmitted to the propulsion shaft 5a. The main transmission 5b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission 5b changes the rotation input from the propulsion shaft 5a and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.

Like the main transmission 5b, the auxiliary transmission 5c has a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 5c changes the rotation input from the main transmission 5b and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
The shuttle unit 5d has a shuttle shaft 12 and a forward / backward switching unit 13. The power output from the auxiliary transmission 5c is transmitted to the shuttle shaft 12 via gears and the like. The forward / backward switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward movement and the reverse movement of the tractors 1A and 1B by turning on / off the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device. The rear wheel differential device rotatably supports the rear axle 29R to which the rear wheel 7R is attached.

The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and is in a state where the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14 when the hydraulic clutch is turned on and off. Switch to the state.

Further, the tractors 1A and 1B include a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a steering shaft (rotating shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

Therefore, when the driver operates the steering wheel 11a, the switching position and opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 is left or left or opened according to the switching position and opening degree of the control valve 22. By expanding and contracting to the right, the steering direction of the front wheels 7F can be changed. That is, the steering device 11 can manually steer the tractors 1A and 1B (vehicle body 3).

By the way, at least in the tractor 1B (vehicle body 3), it is possible to automatically steer. As shown in FIG. 2, the steering device 11 of the tractor 1B has an automatic steering mechanism 25. The automatic steering mechanism 25 is a mechanism for automatically steering the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position) and a preset travel schedule line. The automatic steering mechanism 25 includes a steering motor 26 and a gear mechanism 27. The steering motor 26 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the current position. The gear mechanism 27 includes a gear provided on the steering shaft 11b and rotating around the steering shaft 11b, and a gear provided on the rotating shaft of the steering motor 26 and rotating around the rotating shaft. When the rotation shaft of the steering motor 26 rotates, the steering shaft 11b automatically rotates (rotates) via the gear mechanism 27, and the steering direction of the front wheels 7F is changed so that the vehicle body position matches the planned traveling line. can do. The steering device 11 described above is an example, and is not limited to the configuration described above. The steering device 11 of the tractor 1A may also be provided with the automatic steering mechanism 25.

The tractors 1A and 1B include a communication device 18 and a positioning device 40. The communication device 18 is a communication device that performs wireless communication by a short-range communication device, a mobile phone communication network, a data communication network, a mobile phone communication network, or the like, and at least communicates between both tractors 1A and 1B. Is possible. The communication method of the communication device 18 is not limited, and may be, for example, the communication standard IEEE802.5.1 series, the communication standard IEEE802.11 series, or other communication methods.

The positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the vehicle body position (for example, latitude, longitude) based on the satellite signal. .. The positioning device 40 is attached to the vehicle body 3, that is, the roof of the cabin 9 provided in the vehicle body 3. The positioning device 40 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device having an antenna or the like and receiving a satellite signal transmitted from a positioning satellite.

The inertial measurement unit 42 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement unit 42 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3. Further, the positioning device 40 can detect the direction (traveling direction) of the vehicle body 3 based on the vehicle body position such as latitude and longitude, acceleration, angular velocity, and the like. The mounting location of the positioning device 40 may be mounted on the vehicle body 3, and is not limited to the above-mentioned example.

As shown in FIGS. 2 and 3, the tractors 1A and 1B each include a plurality of illumination lights 36. The plurality of lighting lights 36 are provided on the vehicle body 3. The plurality of illumination lights 36 illuminate different directions. The plurality of illumination lights 36 include a headlight 37 and a work light 38.
The headlight 37 is provided at the front portion of the vehicle body 3. The headlight 37 includes a first headlight 37L and a second headlight 37R. The first headlight 37L is arranged on the left side of the front portion of the bonnet 24, and can illuminate the front left side of the vehicle body 3. The second headlight 37R is arranged on the right side of the front portion of the bonnet 24, and can illuminate the front right side of the vehicle body 3. The irradiation direction of the headlight 37 (first headlight 37L, second headlight 37R) can be changed with respect to the vehicle body 3 (bonnet 24). As shown in FIG. 4, the headlight 37 (first headlight 37L, second headlight 37R) includes a plurality of light sources 33 such as LED lamps and HID lamps. The light source 33 includes a light source 33a for a high beam and a light source 33b for a low beam. The tractors 1A and 1B are provided with a lighting changeover switch 69. It is possible to switch to a high beam or a low beam by the illumination changeover switch 69, and the light source 33a is turned on when the beam is switched to the high beam, and the light source 33b is turned on when the beam is switched to the low beam.

The work light 38 is fixed to the roof 9a forming the upper part of the cabin 9. The work light 38 includes a first work light 38L and a second work light 38R. The first work light 38L is arranged on the left side of the front part of the roof 12a, and can illuminate the diagonally left front side of the vehicle body 3 from the rear side of the bonnet 24. The second work light 38R is arranged on the right side of the front portion of the roof 6a, and can illuminate the diagonally right front of the vehicle body 3 from the rear side of the bonnet 24.

As shown in FIG. 1, the tractors 1A and 1B include a display device 45 and a control device 60. The display device 45 is a device capable of displaying various information regarding the tractors 1A and 1B, and can display at least the operation information of the tractors 1A and 1B. The display device 45 is provided in front of the driver's seat 10.
Each of the tractors 1A and 1B is provided with a control device 60. The control device 60 performs various controls of the tractors 1A and 1B, for example, controls for the tractors 1A and 1B to travel in cooperation with each other. Hereinafter, for convenience of explanation, the control device 60 included in the manned work vehicle (tractor) 1A is referred to as the “first control device 60A”, and the control device 60 included in the unmanned work vehicle (tractor) 1B is referred to as the “second control device 60B”. ". Further, the positioning device (first positioning device) 40 possessed by the tractor 1A is referred to as "manned positioning device 40A", and the positioning device (second positioning device) 40 possessed by the tractor 1B is referred to as "unmanned positioning device 40B".

FIG. 5 shows an example of traveling routes L1a and L1b when the manned work vehicle 1A and the unmanned work vehicle 1B are cooperatively traveled, that is, when the cooperative work is performed. As shown in FIG. 5, in the cooperative work, for example, the unmanned work vehicle (tractor) 1B works while traveling in advance, and the manned work vehicle (tractor) 1A works while following the tractor 1B. I do. In the cooperative work, the tractor 1A and the tractor 1B make a turn or the like in the turn area A1 such as a headland, and repeatedly travel straight in the work area A2. The traveling routes L1a and L1b can be generated in advance by an external device such as a server or a personal computer, or can be generated by inputting predetermined information to the display device 45. In the cooperative work, the tractor is set to be manned with respect to the tractor 1A by the operation of the display device 45 or the operation of the operation tool arranged around the driver's seat 10 before starting the traveling. It can be set to be unmanned for 1B. Alternatively, the manned or unmanned setting may be performed by transmitting the manned or unmanned setting to the tractor 1A and the tractor 1B from a mobile terminal such as a tablet or a smartphone.

The second control device 60B controls the automatic steering mechanism 25 of the steering device 11 so as to follow the traveling route L1b set corresponding to the tractor 1B. The second control device 60B sets the steering direction and steering angle by the automatic steering mechanism 25 so that the deviation between the vehicle body position (unmanned vehicle body position) detected by the unmanned positioning device 40B and the traveling route L1b is minimized, for example. Steer while doing. Further, the second control device 60B controls the rotation speed of the prime mover 4, the shift stage of the transmission 5, and the like so as to have a traveling speed (vehicle speed) set corresponding to the traveling route L1b. Further, the second control device 60B refers to the unmanned vehicle body position, and when the tractor 1B is in the work area A2, lowers the elevating device 8 to perform the work by the work device 2, and the tractor 1B performs the work by the turn area A1. By raising the elevating device 8 when the user is in the work device 2, the work by the work device 2 is temporarily stopped. That is, the second control device 60B executes control such as automatic traveling of the tractor 1B so that the tractor 1B performs the work while traveling along the traveling route L1b. The operation information when the tractor 1B travels, for example, the unmanned vehicle body position, the steering angle, the vehicle speed, the rotation speed of the prime mover, the work width worked by the work device 2, and the like are transmitted from the communication device 18 to the tractor 1A.

The first control device 60A controls the tractor 1A based on the operation of the driver. When the driver performs an operation of raising the elevating device 8 (operation in the direction of raising the elevating switch 61), an operation of raising the elevating device 8 and lowering the elevating device 8 (in the direction of lowering the elevating switch 61). When the operation) is performed, the elevating device 8 is lowered. Further, when the first control device 60A operates the accelerator, the rotation speed of the prime mover 4 is increased or decreased according to the accelerator operation, and when the shift stage operation member for setting the shift stage of the transmission 5 is operated, the first control device 60A increases or decreases the rotation speed. The shift stage of the transmission 5 is controlled according to the operation of the shift stage operation member. That is, the first control device 60A is based on the operation of the operation member of the work system such as the elevating switch 61 provided on the tractor 1A and the operation of the operation member of the operation system such as the accelerator and the shift stage operation member. Take control. The operation information when the tractor 1A travels, for example, the vehicle body position (manned vehicle body position) detected by the manned positioning device 40A, the steering angle, the vehicle speed, the rotation speed of the prime mover, the work width worked by the work device 2, and the like are communication devices. It is transmitted from 18 to the tractor 1B.

The traveling routes L1a and L1b may be modified based on the operation information of the tractor 1A and the tractor 1B. The first control device 60A and the second control device 60B modify the traveling routes L1a and L1b so that, for example, the work traces of the work performed on the tractor 1A and the work traces of the work performed on the tractor 1B overlap. The first control device 60A may modify the travel routes L1a and L1b, and the modified travel route L1b may be transmitted from the tractor 1A to the tractor 1B. Further, the control in the tractors 1A and 1B and the correction and generation of the traveling routes L1a and L1b are examples and are not limited.

Lighting switches 65 and 66 that can be switched ON or OFF are connected to the first control device 60A and the second control device 60B, respectively. The lighting switch 65 is a switch for turning on / off the headlight 37, and the lighting switch 66 is a switch for turning on / off the work light 38. The lighting switch 65 may be a hardware switch provided around the driver's seat 10 or a software switch displayed on the display device 45.

When the lighting switch 65 is turned on, the first control device 60A and the second control device 60B turn on the headlights 37 (first headlight 37L, second headlight 37R) and turn them off. The headlight 37 (first headlight 37L, second headlight 37R) is turned off.
Further, in the first control device 60A and the second control device 60B, when the lighting switch 66 is turned on, the work lights 38 (first work light 38L, second work light 38R) are turned on and turned off, when the work is turned off. The lights 38 (first work light 38L, second work light 38R) are turned off.

By the way, when the tractor 1A and the tractor 1B perform cooperative work, as shown in FIG. 6A, the first traveling direction (manned traveling direction) X1 of the tractor 1A and the second traveling direction (unmanned traveling direction) of the tractor 1B. There are cases where the X2 faces in the same direction, and there are cases where the manned traveling direction X1 of the tractor 1A and the unmanned traveling direction X2 of the tractor 1B face each other as shown in FIG. 6B. The second control device 60B of the tractor 1B controls the illumination lamp 36 of the tractor 1B based on the manned traveling direction X1 and the unmanned traveling direction X2. For convenience of explanation, the illuminator 36 of the tractor 1A may be referred to as a “first illuminator 36A”, and the illuminator 36 of the tractor 1B may be referred to as a “second illuminator 36B”.

As shown in FIG. 6A, when the second lighting 36B of the toqta 1B is lit and the manned traveling direction X1 and the unmanned traveling direction X2 are in the same direction, the second control device 60B is the second. The illumination lamp 36B is not dimmed, and as shown in FIG. 6B, when the manned traveling direction X1 and the unmanned traveling direction X2 face each other, the second illumination lamp 36B is dimmed. The dimming of the second illumination lamp 36B is a process in which the second illumination lamp 36B is not dazzling. When the second illumination lamp 36B is lit with a high beam, it is changed to a low beam, and when it is a low beam, the illuminance is reduced.

FIG. 7 is an example of control regarding the second illumination lamp 36B of the tractor 1B in the case of performing cooperative work.
First, in the cooperative work, in the tractors 1A and 1B, the headlight 37 of the first lighting 36A of the tractor 1A and the headlight 37 of the second lighting 36B of the tractor 1B are turned on to start the cooperative work. And.

As shown in FIG. 7, when the cooperative work is started, at least the manned traveling direction X1 detected by the manned positioning device 40A is transmitted from the tractor 1A to the tractor 1B via the communication device 18 of the tractor 1A (S1). Further, in the second control device 60B of the tractor 1B, after the communication device 18 of the tractor 1B receives the manned traveling direction X1, whether or not the manned traveling direction X1 and the unmanned traveling direction X2 detected by the unmanned positioning device 40B face each other. Is determined (S2).

The second control device 60B of the tractor 1B performs a dimming process when the manned traveling direction X1 and the unmanned traveling direction X2 face each other (S2, Yes) (S3). In the dimming process, when the headlight 37 of the second illumination lamp 36B has a high beam, the illumination selector switch 69 switches to the low beam even if it is on the high beam side. Alternatively, in the dimming process, when the headlight 37 of the second lighting 36B has a low beam, the illuminance of the headlight 37 is lowered from a preset value (default value). In the second control device 60B of the tractor 1B, when the second control device 60B of the tractor 1B does not face the manned traveling direction X1 and the unmanned traveling direction X2 (S2, No), that is, the manned traveling direction X1 and the unmanned traveling direction X1 In the same case as the direction X2, the dimming treatment is not performed.

The second control device 60B of the tractor 1B determines whether or not the manned traveling direction X1 and the unmanned traveling direction X2 are facing each other under the condition that the dimming treatment is being performed (S4), and the manned traveling direction X1 and When the unmanned traveling direction X2 does not face each other (S4, No), the dimming process ends (S5). In the dimming process, the second control device 60B of the tractor 1B returns the illuminance to the low beam when the high beam is switched to the low beam, and returns the illuminance to the default value when the illuminance of the low beam is reduced.

It should be noted that the first illumination lamp 36A of the tractor 1A may be controlled when the cooperative work is performed.
FIG. 8 is an example of control regarding the first illuminating lamp 36A and the second illuminating lamp 36B of the tractor 1A and the tractor 1B when the cooperative work is performed.
As shown in FIG. 8, when the cooperative work is started, the manned vehicle body position and the manned traveling direction X1 are transmitted from the tractor 1A to the tractor 1B via the communication device 18 of the tractor 1A (S10). The unmanned vehicle body position P12 and the unmanned traveling direction X2 are transmitted from the tractor 1B to the tractor 1A via the communication device 18 of the tractor 1B (S11). The first control device 60A of the tractor 1A determines whether or not the tractor 1A and the tractor 1B pass each other after the communication device 18 of the tractor 1A receives the unmanned vehicle body position P12 and the unmanned traveling direction X2 (S12). For example, the first control device 60A determines whether or not the manned traveling direction X1 and the unmanned traveling direction X2 face each other, and when the manned traveling direction X1 and the unmanned traveling direction X2 face each other, FIG. 6B shows. As shown, the distance (distance in the traveling direction) SD1 between the manned vehicle body position P11 and the unmanned vehicle body position P12 is calculated, and when the distance SD1 becomes the predetermined distance SD2 or less (threshold value or less), the tractor 1A and the tractor It is judged that 1B and 1B pass each other.

When it is determined that the tractor 1A and the tractor 1B pass each other (S12, Yes), the first control device 60A executes a forward lighting process for illuminating the front of the tractor 1B (S13). In the forward lighting process, the first control device 60A lights the work lights 38 (first work light 38L, second work light 38R) provided at the rear of the tractor 1A.
On the other hand, after the communication device 18 of the tractor 1B receives the manned vehicle body position P11 and the manned traveling direction X1, the second control device 60B of the tractor 1B also passes the tractor 1A and the tractor 1B in the same manner as the first control device 60A. It is determined whether or not to do so (S21). That is, the second control device 60B determines whether or not the manned traveling direction X1 and the unmanned traveling direction X2 face each other, and when the manned traveling direction X1 and the unmanned traveling direction X2 face each other, the manned vehicle body position P11 And the distance SD1 of the unmanned vehicle body position P12 (distance in the traveling direction) is calculated, and when the distance SD1 becomes equal to or less than the predetermined distance SD2 (below the threshold value), it is determined that the tractor 1A and the tractor 1B pass each other. ..

When it is determined that the tractor 1A and the tractor 1B pass each other (S21, Yes), the second control device 60B performs the dimming process (S22) in the same manner as described above, and also performs the front illumination process for illuminating the front of the tractor 1A. Is executed (S23). In the front lighting process, the second control device 60B lights the work lights 38 (first work light 38L, second work light 38R) provided at the rear of the tractor 1B.

As described above, when the tractors 1A and 1B pass each other, the work lights 38 (first work light 38L, second work light 38R) at the rear of the tractors 1A and 1B are turned on so that the front of the other party is turned on. It can be illuminated and visibility can be improved. In the above-described embodiment, both the tractors 1A and 1B perform the front lighting treatment, but only the unmanned side tractor 1B may perform the front lighting treatment.

In the above-described embodiment, it is determined that the distance SD1 between the tractor 1A and the tractor 1B is less than or equal to the distance SD2, but instead of this, the manned traveling direction X1 and the unmanned traveling direction X2 face each other. When the elapsed time since then reaches a predetermined time (passing determination time), it may be determined that the passing time has passed.
The display device 45 provided on at least one of the tractor 1A and the tractor 1B may display the vehicle body positions of the tractor 1A and the tractor 1B.

The display device 45 can set at least the dimming timing of the second illumination lamp 36B. When a predetermined operation is performed on the display device 45, the setting screen M15 is displayed as shown in FIG. The setting screen M15 includes a first vehicle body display unit 301 indicating the tractor 1A and a second vehicle body display unit 302 indicating the tractor 1B. Further, the setting screen M15 includes a distance input unit 303 and a time input unit 304. The distance input unit 303 is a portion for inputting the distance (opposite distance) SD2 between the tractor 1A and the tractor 1B. The time input unit 304 is a part for inputting the time until the tractor 1A and the tractor 1B pass each other (passing determination time).

By changing the value for inputting the distance SD2 to the distance input unit 303, it is possible to change the timing at which the dimming process of the second illumination lamp 36B is started when the tractor 1A and the tractor 1B face each other. Further, by changing the passing determination time input to the time input unit 304, when the tractor 1A and the tractor 1B face each other, the timing for starting the dimming process of the second illumination lamp 36B after facing each other is changed. Can be done.

The display device 45 may display either the distance input unit 303 or the time input unit 304 on the setting screen M15. Further, in the above-described embodiment, the distance input unit 303 and the time input unit 304 are items for setting the timing for starting the dimming process of the second illumination lamp 36B, but the second illumination lamp 36B blinks. It may be the timing to do it. In this case, when the distance SD1 between the tractor 1A and the tractor 1B becomes the distance SD2 or less, the second illumination lamp 36B can be blinked in addition to the dimming process. Further, when the elapsed time from the tractor 1A and the tractor 1B facing each other reaches the passing determination time, the second illumination lamp 36B can be blinked in addition to the dimming process.

Even when the traveling paths overlap so that the first traveling direction X1 and the second traveling direction X2 intersect, all the contents such as the above-mentioned dimming treatment can be applied.
The cooperative traveling system of the work vehicle includes a first work vehicle 1A having a first control device 60A for controlling the first lighting 36A and the first lighting 36A, a second lighting 36B, and the second lighting 36B. It is a cooperative traveling system of a work vehicle that travels in cooperation with a second work vehicle 1B having a second control device 60B to be controlled, and is a first positioning device 40A that detects a first traveling direction of the first work vehicle 1A. The second control device 60B includes a second positioning device 40B for detecting the second traveling direction X2 of the second working vehicle 1B, and the second control device 60B is based on the first traveling direction X1 and the second traveling direction X2. 2 Controls the illumination lamp 36B. According to this, for example, when the first traveling direction X1 and the second traveling direction X2 face each other, the second lighting 36B is dimmed, or the second lighting 36B is used to reduce the light of the first working vehicle 1A. By illuminating the front, the first work vehicle 1A can be facilitated to drive.

The second control device 60B dims the second illumination lamp 36B when the first traveling direction X1 and the second traveling direction X2 face each other. According to this, it is possible to suppress the light emitted by the second lighting 36B of the second work vehicle 1B from entering the line of sight of the driver of the first work vehicle 1A and feeling dazzling, and the vehicle travels in cooperation. In some cases, the operation of the first work vehicle 1A can be improved.
The second lighting 36B includes a headlight provided at the front of the second working vehicle 1B, and the second control device 60B is in front of the first traveling direction X1 and the second traveling direction X2 when they are the same. The headlights are not dimmed, and when the first traveling direction X1 and the second traveling direction X2 face each other, the headlights are dimmed. According to this, the light emitted from the second lighting 36B of the second work vehicle 1B can be appropriately dimmed when it is easy to enter the line of sight of the driver of the first work vehicle 1A.

The second lighting 36B includes a work light 38 provided at the rear portion, and the second control device 60B has a first work vehicle 1A and a second work vehicle with the first traveling direction X1 and the second traveling direction X2 facing each other. When 1B and 1B pass each other, the work light 38 is turned on. According to this, when the first work vehicle 1A and the second work vehicle 1B pass each other, the front of the first work vehicle 1A can be illuminated, and the field of view in front of the first work vehicle 1A is the second work vehicle 1B. It can be supplemented by the work light 38 of.

The cooperative traveling system of the work vehicle includes a display device 45 for displaying the vehicle body positions of the first work vehicle 1A and the second work vehicle 1B, and the display device 45 dims and / or blinks the timing of the second lighting 36B. Can be set. According to this, the timing of dimming and / or blinking of the second lighting 36B can be arbitrarily changed according to the working condition, the field condition, and the like, and the workability can be improved.

The display device 45 has a distance input unit 303 for inputting the opposite distance SD2 of the first work vehicle 1A and the second work vehicle 1B as the timing. According to this, the distance SD2 can be input according to the work state, the field state, the size of the work vehicle, the specifications of the second lighting 36B, and the like.
The display device 45 has a time input unit 304 for inputting the time ((passing determination time)) until the first work vehicle 1A and the second work vehicle 1B pass each other as the timing. According to this, the work state, The passing determination time can be input according to the field condition, the size of the work vehicle, the specifications of the second lighting 36B, and the like.

The first work vehicle 1A is a manned work vehicle, and the second work vehicle 1B is an unmanned work vehicle. According to this, it is possible to reduce the glare when the first work vehicle 1A is driven by a manned person.
The work vehicle (the first work vehicle 1A and the second work vehicle 1B are equipped with the cooperative travel system of the work vehicle. That is, as the cooperative travel system of the work vehicle, the first work vehicle 1A is the first lighting 36A. The first control device 60A and the first positioning device 40A are provided, and the second work vehicle 1B includes the second lighting 36B, the second control device 60B, and the second positioning device 40B. Therefore, at least two units are provided. Appropriate lighting can be performed when the work vehicles cooperate to travel.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1A: 1st work vehicle 1B: 2nd work vehicle 36A: 1st lighting 36B: 2nd lighting 38: Work light 45: Display device 40A: 1st positioning device 40B: 2nd positioning device 60A: 1st control device 60B: 2nd control device X1: 1st traveling direction X2: 2nd traveling direction 303: Distance input unit 304: Time input unit

Claims (9)

A first work vehicle having a first light and a first control device for controlling the first light, and a second work vehicle having a second control device for controlling the second light and the second light. It is a cooperative running system for work vehicles that run cooperatively.
A first positioning device that detects the first traveling direction of the first work vehicle, and
A second positioning device that detects the second traveling direction of the second work vehicle, and
With
The second control device is a cooperative traveling system of a work vehicle that controls the second lighting based on the first traveling direction and the second traveling direction. The cooperative traveling system for a work vehicle according to claim 1, wherein the second control device dims the second lighting when the first traveling direction and the second traveling direction face each other. The second lighting includes a headlight provided at the front of the second working vehicle.
When the first traveling direction and the second traveling direction are the same, the second control device does not dim the headlights, and the first traveling direction and the second traveling direction face each other. The work vehicle cooperative traveling system according to claim 2, wherein the headlight is dimmed. The second illuminating light includes a work light provided at the rear portion.
The first to third control devices turn on the work light when the first traveling direction and the second traveling direction face each other and the first working vehicle and the second working vehicle pass each other. The cooperative running system of the work vehicle described in any of the above. A display device for displaying the vehicle body positions of the first work vehicle and the second work vehicle is provided.
The cooperative traveling system for a work vehicle according to any one of claims 2 to 4, wherein the display device can set the dimming and / or blinking timing of the second lighting. The cooperative traveling system for a work vehicle according to claim 5, wherein the display device has a distance input unit for inputting a distance between the first work vehicle and the second work vehicle as the timing. The cooperative traveling system for a work vehicle according to claim 5, wherein the display device has a time input unit for inputting a time until the first work vehicle and the second work vehicle pass each other as the timing. The cooperative traveling system for work vehicles according to claim 1 to 7, wherein the first work vehicle is a manned work vehicle, and the second work vehicle is an unmanned work vehicle. A work vehicle equipped with the cooperative traveling system of the work vehicles according to claims 1 to 8.

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